Abstract
This study investigates the issue of adaptive tracking control for flexible-joint robots with random disturbances that can be correlated to all system states.The system considered under this case is a typical multi-input and multi-output (MIMO) nonstrict-feedback system, which cannot be controlled by the traditional backstepping design. For this reason, fuzzy logic systems play a vital role in solving this difficulty. Moreover, a finite-time adaptive control scheme is proposed by combining command filtered control and backstepping design, in which the “explosion of complexity” problem is successfully avoided and the tracking error can be kept within a very small range of the origin in a limited time. Finally, the effectiveness of the proposed control scheme is further demonstrated by the simulation results. It can be seen from the simulation comparison that under the proposed method, the maximum value of ‖q1-qr‖ at the steady-state phase is only 0.0055, which is smaller than 0.0199 in the existing method.
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